3DOM: A 3 degree of freedom manipulandum to investigate redundant motor control

Julius Klein; Nicholas Roach; Etienne Burdet

doi:10.1109/TOH.2013.59

3DOM: A 3 degree of freedom manipulandum to investigate redundant motor control

Julius Klein
, Nicholas Roach
, Etienne Burdet

Imperial College London

Research output: Contribution to journal › Article › peer-review

15 Citations (Scopus)

Abstract

This paper presents a novel robotic interface to investigate the neuromechanical control of redundant planar arm movements. A unique aspect of this device is the third axis by which the wrist, and hence the pose of the arm can be fully constrained. The topology is based on a 5R, closed loop pantograph, with a decoupled wrist flexion/extension cable actuated mechanism. The design and characterization (in terms of range of motion, impedance, friction and dynamics) are described in this paper. This device is lightweight, safe and has high force capabilities and low impedance. Simple experiments illustrate the advantages of this device for the investigation of redundant motor control in humans.

Original language	English
Article number	6671609
Pages (from-to)	229-239
Number of pages	11
Journal	IEEE Transactions on Haptics
Volume	7
Issue number	2
DOIs	https://doi.org/10.1109/TOH.2013.59
Publication status	Published - 2014
Externally published	Yes

Keywords

Human motor control
haptic interface
parallel robot
redundant arm control

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10.1109/TOH.2013.59

Cite this

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3DOM: A 3 degree of freedom manipulandum to investigate redundant motor control

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Keywords

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